CN102564444A - Route guidance apparatus, route guidance method, and computer program - Google Patents
Route guidance apparatus, route guidance method, and computer program Download PDFInfo
- Publication number
- CN102564444A CN102564444A CN2011103968735A CN201110396873A CN102564444A CN 102564444 A CN102564444 A CN 102564444A CN 2011103968735 A CN2011103968735 A CN 2011103968735A CN 201110396873 A CN201110396873 A CN 201110396873A CN 102564444 A CN102564444 A CN 102564444A
- Authority
- CN
- China
- Prior art keywords
- road
- mentioned
- intersection
- guiding
- path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
Abstract
The invention provides a route guidance apparatus, a route guidance method, and a computer program capable of making a user correctly determine a road for which a movable body leaves a guidance intersection. Route guidance apparatuses, methods, and programs determine a guidance intersection in front of a movable body in a direction of travel along a navigation route. The apparatuses, methods, and programs acquire a shape (S4) of the guidance intersection, determine an exit road on which the movable body leaves the guidance intersection, and determine whether the determined exit road is one of a plurality of roads (S5) connected to the guidance intersection that exist in an area extending in the same direction as the determined exit road. When the determined road is one of the plurality of roads that exist in the area extending in the same direction as the exit road, the apparatuses, methods, and programs associate each of the plurality of roads with an identification information item usable to identify a connecting direction (S6) along which the road is connected to the guidance intersection, and provide guidance (S7) using the identification information item associated with the exit road.
Description
Technical field
The present invention relates to based on path guiding device, path guide method and the computer program of path of navigation the mobile channeling conduct of moving body.
Background technology
In recent years, carry out the guiding of going of vehicle, the situation that the guider that makes the driver can easily arrive desirable destination is installed in the vehicle is more.Here; Guider is meant and can waits the current location of coming this car to detect through the GPS receiver, obtains with its current location corresponding map data and with it through recording medium such as DVD-ROM or HDD or network and is presented at the device on the LCD.And, in this guider, possess when the desirable destination of input the route searching function of the optimal path of search from the departure place to the destination.And; The path of navigation that to set based on Search Results is presented on the display picture; And near as about the introductory object that turns etc. the intersection (below; Be called the guiding intersection) situation under, through having used the guiding of sound or display picture, the user is directed to desirable destination reliably.In addition, in recent years, in mobile phone, PDA (Personal Digital Assistant), personal computer etc., also had and above-mentioned guider identical functions.And, except vehicle, also can pedestrian or cart be carried out above-mentioned guiding as object.
Here; Under the situation of the guiding of turning about carrying out in the guiding intersection etc.; Important part is to make road (that is, the user is at the road that guides the intersection to get into) in a plurality of roads that the user is definite exactly with the guiding intersection is connected, that vehicle will withdraw from from the guiding intersection.Particularly, be to have under the situation of intersection of complicated shapes such as 5 cross road in the guiding intersection, the user confirms to have difficulties from the road that the guiding intersection is withdrawed from based on guiding.Therefore; For example in TOHKEMY 2005-147697 communique; Record following technology: at vehicle near having under the situation of guiding intersection of complicated shape; To guide the tabulation of the sound guidance of intersection to be presented on the display at this, and the user is selected it, the sound guidance of under the situation of vehicle near identical guiding intersection, selecting through the user afterwards comes channeling conduct.
[patent documentation 1] TOHKEMY 2005-147697 communique (the 7th page～the 8th page, Fig. 5, Fig. 6).
Yet; In the technology that above-mentioned patent documentation 1 is put down in writing; Exist following problem; Though the guiding intersection of promptly crossing for the past vehicle ', the user can confirm that the guiding intersection of not going in the past for vehicle then can't be suitable for from the road that guides the intersection to withdraw from based on guiding.In addition, whenever when having the guiding intersection of complicated shape, therefore will the select a sound operation of guiding of user has increased user's in going operation burden.
Summary of the invention
The present invention accomplishes in order to eliminate above-mentioned problem points in the past; Its purpose is to provide a kind of and need not to make the user to operate especially, just can make the user confirm path guiding device, path guide method and the computer program of the road that moving body withdraws from from the guiding intersection exactly.
To achieve these goals, the path guiding device (1) of the application's content 1 is characterised in that to have: path of navigation setup unit (51), and it sets the path of navigation to the mobile channeling conduct of moving body (61); Movable body position is obtained unit (52), and it obtains the position of above-mentioned moving body; Unit (53) is confirmed in the guiding intersection, and it is based on the position of above-mentioned path of navigation and above-mentioned moving body, confirms to be positioned at the guiding intersection in direct of travel the place ahead of above-mentioned moving body; The intersection shape obtains unit (54), and it obtains the shape of above-mentioned guiding intersection; Road identifying unit (55); It obtains the shape of the above-mentioned guiding intersection of obtaining the unit based on above-mentioned path of navigation with by above-mentioned intersection shape; Judgement is withdrawed from the identical scope of road with above-mentioned moving body withdraws from from above-mentioned guiding intersection in direction, whether has a plurality of roads that are connected with this guiding intersection; Identifying information corresponding unit (56); Withdraw from the identical scope of road with above-mentioned being judged to be by above-mentioned road identifying unit in direction; Exist under the situation of the road that a plurality of and above-mentioned guiding intersection is connected; Identifying information corresponding unit (56) is set up identifying information and each road of these a plurality of roads corresponding, and wherein, this identifying information is used to discern the closure of each road with respect to above-mentioned guiding intersection; Crossroad guide unit (57), its use is carried out the guiding of above-mentioned guiding intersection with the above-mentioned corresponding above-mentioned identifying information of road that withdraws from.
Wherein, as " moving body ", except vehicle, also comprise pedestrian or cart.
In addition, " guiding intersection " be meant when the guiding of moving of carrying out moving body according to path of navigation, as the intersection of the object of the guiding of turning indication etc. about carrying out.
In addition; The path guiding device of content 2 (1) is based on the path guiding device that content 1 is put down in writing; It is characterized in that; Above-mentioned road identifying unit (55) judges that be that the above-mentioned of benchmark withdraws from the identical scope of road in direction with the direction that gets into the entering road of above-mentioned guiding intersection with above-mentioned moving body (61), whether has a plurality of roads that are connected with this guiding intersection.
In addition; The path guiding device of content 3 (1) is based on the path guiding device that content 1 is put down in writing; It is characterized in that; Have extended line identifying unit (58), this extended line identifying unit (58) is obtained the shape of the above-mentioned guiding intersection of obtaining unit (54) based on above-mentioned path of navigation with by above-mentioned intersection shape, judges whether the extended line road is connected with above-mentioned guiding intersection; Wherein, This extended line road is the road that the entering road that gets into above-mentioned guiding intersection with above-mentioned moving body is the extended line relation, is being judged to be by above-mentioned extended line identifying unit under above-mentioned extended line road and the situation that above-mentioned guiding intersection is connected, and above-mentioned identifying information corresponding unit (56) concerns above-mentioned identifying information corresponding with each road foundation based on above-mentioned a plurality of roads with respect to the position of above-mentioned extended line road.
In addition; The path guiding device of content 4 (1) is based on the path guiding device that content 3 is put down in writing; It is characterized in that; Be judged to be by above-mentioned extended line identifying unit (58) above-mentioned extended line road not with situation that above-mentioned guiding intersection is connected under, above-mentioned identifying information corresponding unit (56) concerns with respect to the position of above-mentioned entering road based on above-mentioned a plurality of roads to be set up corresponding with each road above-mentioned identifying information.
In addition; The path guiding device of content 5 (1) is based on any path guiding device put down in writing in content 1 to the content 4; It is characterized in that; Having on the ground, thing information obtains unit (59); Exist at the periphery of above-mentioned guiding intersection under the situation of thing (103) on the ground, this ground thing information obtains unit (59) and obtains the ground thing information relevant with this ground thing, and above-mentioned identifying information corresponding unit (56) concerns above-mentioned identifying information corresponding with each road foundation based on above-mentioned a plurality of roads with respect to the position of above-mentioned ground thing.
In addition, the path guide method of content 6 is characterised in that to have: path of navigation is set step, sets the path of navigation to the mobile channeling conduct of moving body (61); Movable body position is obtained step, obtains the position of moving body; Step is confirmed in the guiding intersection, based on the position of above-mentioned path of navigation and above-mentioned moving body, confirms to be positioned at the guiding intersection in direct of travel the place ahead of above-mentioned moving body; The intersection shape obtains step, obtains the shape of above-mentioned guiding intersection; The road determination step; Obtain the shape of the above-mentioned guiding intersection that step obtains based on above-mentioned path of navigation with by above-mentioned intersection shape; Judgement is withdrawed from the identical scope of road with above-mentioned moving body withdraws from from above-mentioned guiding intersection in direction, whether has a plurality of roads that are connected with this guiding intersection; The corresponding step of identifying information; Withdraw from the identical scope of road with above-mentioned being judged to be by above-mentioned road determination step in direction; Exist under the situation of the road that a plurality of and above-mentioned guiding intersection is connected; Each road foundation of identifying information and these a plurality of roads is corresponding, and wherein, this identifying information is used to discern the closure of each road with respect to above-mentioned guiding intersection; The crossroad guide step is used and is carried out the guiding of above-mentioned guiding intersection with the above-mentioned corresponding above-mentioned identifying information of road that withdraws from.
And the computer program of content 7 is installed in the computing machine, it is characterized in that, is used to make processor to realize following function: the path of navigation set-up function, and it sets the path of navigation to the mobile channeling conduct of moving body (61); Movable body position is obtained function, and it obtains the position of moving body; Function is confirmed in the guiding intersection, and it is based on the position of above-mentioned path of navigation and above-mentioned moving body, confirms to be positioned at the guiding intersection in direct of travel the place ahead of above-mentioned moving body; The intersection shape obtains function, and it obtains the shape of above-mentioned guiding intersection; The road decision-making function; It obtains the shape of the above-mentioned guiding intersection that function obtains based on above-mentioned path of navigation with by above-mentioned intersection shape; Judgement is withdrawed from the identical scope of road with above-mentioned moving body withdraws from from above-mentioned guiding intersection in direction, whether has a plurality of roads that are connected with this guiding intersection; The identifying information corresponding function; It withdraws from the identical scope of road with above-mentioned being judged to be by above-mentioned road decision-making function in direction; Exist under the situation of the road that a plurality of and above-mentioned guiding intersection is connected; Each road foundation of identifying information and these a plurality of roads is corresponding, and wherein, this identifying information is used to discern the closure of each road with respect to above-mentioned guiding intersection; The crossroad guide function, its use is carried out the guiding of above-mentioned guiding intersection with the above-mentioned corresponding above-mentioned identifying information of road that withdraws from.
The path guiding device of being put down in writing according to the content with above-mentioned formation 1; Even withdraw from the identical scope of road from what the guiding intersection was withdrawed from moving body in direction; Exist under the situation of a plurality of roads that are connected with this guiding intersection, also can make the user confirm the road that withdraws from that moving body should get in the guiding intersection exactly.In addition, need not to make the user to carry out special operation, just can make the user confirm to withdraw from road exactly.
In addition; The path guiding device of being put down in writing according to content 2; Is withdrawing from the identical scope of road of benchmark being judged to be in direction with the direction that gets into the entering road of guiding intersection with moving body; Exist under the situation of a plurality of roads that are connected with this guiding intersection, each road foundation of identifying information and these a plurality of roads is corresponding, wherein; This identifying information is used to discern the closure of each road with respect to the guiding intersection, particularly can set up corresponding as object with identifying information the impalpable road of user.
In addition; The path guiding device of being put down in writing according to content 3; With get into road extended line road that is the extended line relation and the situation that guides the intersection to be connected under; Corresponding based on identifying information and each road being set up with respect to the position relation of extended line road, can be that benchmark is relatively discerned a plurality of roads that are positioned at the identical scope of direction therefore with the extended line road.Therefore, can make the user confirm the road that withdraws from that moving body should get in the guiding intersection exactly.
In addition; The path guiding device of being put down in writing according to content 4; With get into extended line road that road is the extended line relation not with situation that the guiding intersection is connected under; Corresponding based on identifying information and each road being set up with respect to the position relation that gets into road, can be that benchmark is relatively discerned a plurality of roads that are positioned at the identical scope of direction therefore to get into road.Therefore, under the situation that does not have the extended line road, also can make the user confirm the road that withdraws from that moving body should get in the guiding intersection exactly.
In addition; The path guiding device of being put down in writing according to content 5; Periphery in the guiding intersection exists under the situation of ground thing; Corresponding based on identifying information and each road being set up with respect to the position relation of ground thing, can be that benchmark is relatively discerned a plurality of roads that are positioned at the identical scope of direction therefore with the ground thing.Therefore, can make the user confirm the road that withdraws from that moving body should get in the guiding intersection exactly.
In addition; The path guide method of being put down in writing according to content 6; Even withdraw from the identical scope of road from what the guiding intersection was withdrawed from moving body in direction; Exist under the situation of a plurality of roads that are connected with this guiding intersection, also can make the user confirm the road that withdraws from that moving body should get in the guiding intersection exactly.In addition, need not to make the user to carry out special operation, just can make the user confirm to withdraw from road exactly.
And; The computer program of being put down in writing according to content 7; Even withdraw from the identical scope of road from what the guiding intersection was withdrawed from moving body in direction; Exist under the situation of a plurality of roads that are connected with this guiding intersection, also can make the user confirm the road that withdraws from that moving body should get in the guiding intersection exactly.In addition, need not to make the user to carry out special operation, just can make the user confirm to withdraw from road exactly.
Description of drawings
Fig. 1 is the block diagram of the guider of this embodiment of expression.
Fig. 2 is the figure of the expression navigation various unit that ECU constituted.
Fig. 3 is the process flow diagram of the crossroad guide handling procedure of this embodiment.
Fig. 4 be explanation extended line road not with situation that the guiding intersection is connected under the figure of determination processing of the step 5 carried out.
Fig. 5 be expression extended line road not with situation that the guiding intersection is connected under the figure of division of angular range.
Fig. 6 be explanation extended line road not with situation that the guiding intersection is connected under the figure of determination processing of the step 5 carried out.
Fig. 7 be explanation extended line road with the situation that guides the intersection to be connected under the figure of determination processing of the step 5 carried out.
Fig. 8 be expression extended line road with the situation that guides the intersection to be connected under the figure of division of angular range.
Fig. 9 be explanation extended line road with the situation that guides the intersection to be connected under the figure of determination processing of the step 5 carried out.
Figure 10 is that the description object road is the figure of the processing of the step 6 carried out under 2 the situation.
Figure 11 is that the description object road is the figure of the processing of the step 6 carried out under 3 the situation.
Figure 12 is the figure that there is the processing of the step of carrying out under the situation of ground thing 6 in the periphery of explanation in the guiding intersection.
Description of reference numerals
1... guider; 13... navigation ECU; 31... cartographic information DB; 41...CPU; 42...RAM; 43...ROM; 61... vehicle; 62,72,82,92,102... guides the intersection; 63,73,83,93,103... gets into road; 64,74,84,94,104... withdraws from road; 106... ground thing.
Embodiment
Below, on one side come to be elaborated with reference to accompanying drawing on one side based on an embodiment that path guiding device of the present invention is embodied in guider.At first, use Fig. 1 that the schematic configuration of the guider 1 of this embodiment is described.Fig. 1 is the block diagram of the guider 1 of this embodiment of expression.
As shown in Figure 1, the guider 1 of this embodiment is by constituting like the lower part: current location test section 11, and its current location to vehicle that guider 1 is installed detects; Data recording section 12, it writes down various data; Navigation ECU13, it carries out various calculation process based on the information of being imported; Operating portion 14, it accepts the operation from the user; LCD 15, it shows the map of vehicle-surroundings, the facilities information relevant with facility to the user; Loudspeaker 16, the sound that its output is relevant with route guidance guides; DVD driver 17, it reads the DVD as storage medium; Communication module 18, itself and detection center or VICS (registered trademark: Vehicle Information and Communication System) communicate between the information center such as center.
Below, in order each inscape that constitutes guider 1 is described.
Current location test section 11 is made up of GPS21, vehicle speed sensor 22, rotation direction sensor 23 and gyro sensor 24 etc., can detect the travel speed of the position of current vehicles, orientation, vehicle, current time etc.Here, particularly vehicle speed sensor 22 is that displacement, the speed of a motor vehicle to vehicle detects used sensor, produces pulse corresponding to the rotation of the driving wheel of vehicle, and pulse signal is exported to navigation ECU13.And ECU13 is through counting rotational speed, the displacement of calculating driving wheel to the pulse that is produced in navigation.Wherein, guider 1 need not all to possess above-mentioned 5 kinds of sensors, also can adopt guider 1 only to possess a kind or the structure of multiple sensors in these sensors.
In addition, data recording section 12 possesses the record-header (not shown) that writes the used driver of hard disk as the hard disk (not shown) of external memory and recording medium with as playback record cartographic information DB31 and regulated procedure in hard disk etc. and with specified data.Wherein, also can replace hard disk and utilize CDs such as storage card, CD, DVD to come composition data recording portion 12.
Here, cartographic information DB31 be for example store the highway section data 32 relevant with road (highway section), with node relevant node data 33, with each intersection relevant crossing intersection data 34, with the locality data 35 of ground spot correlation such as facility, be used for the map video data of displayed map, the storage unit that is used for the search data of searching route and is used to retrieve the retrieve data etc. in place.
Here, as highway section data 32, for example store this highway section of identification road section ID, confirm to be positioned at the endpoint node information, the road category that constitutes the road in this highway section, number of track-lines etc. of node of the end in this highway section.In addition, as node data 33, store node ID, this node of this node of identification position coordinates, confirm to connect the connection destination nodal information etc. of the connection destination node of this node via the highway section.In addition; As crossing intersection data 34; The link road segment information, definite connection highway section that stores this nodal information of the node that confirm to form this intersection, the highway section of confirming to be connected with this intersection (below, be called and connect the highway section) is with respect to the connection highway section directional information of the closure of intersection etc.In addition, as locality data 35, store and the title of ground spot correlations such as facility, kind, position coordinates etc.
And; Navigation ECU13 is of the back; Based on each data that cartographic information DB31 is stored, confirm to be positioned at the guiding intersection in vehicle direct of travel the place ahead, and obtain this guiding intersection shape, be positioned at the ground thing information of ground thing of the periphery of guiding intersection.Wherein, the guiding intersection is meant at guider 1 goes when guiding according to path of navigation, becomes the intersection of the object of the guiding of turning indication etc. about carrying out.
On the other hand; Navigation ECU (electronic control unit) the 13rd, the electronic control unit that carries out guider 1 whole control, is stored the internal storage devices such as flash memory 44 of the program of from ROM43, reading at the ROM43 that the crossroad guide handling procedure (with reference to Fig. 3) of possessing CPU41 as arithmetic unit and control device, when CPU41 carries out various calculation process, be used as working storage and store the RAM42 of path data when searching the path etc., stating after except the program of control usefulness, also recording waits.Wherein, navigation ECU13 constitutes the various unit as Processing Algorithm shown in Figure 2.For example, 51 settings of path of navigation setup unit are to the path of navigation of the mobile channeling conduct of vehicle (moving body).Movable body position is obtained the position that vehicle is obtained in unit 52.The position of unit 53 based on path of navigation that sets and vehicle confirmed in the guiding intersection, confirms to be positioned at the guiding intersection in direct of travel the place ahead of vehicle, and the intersection shape obtains the shape that definite guiding intersection is obtained in unit 54.Road identifying unit 55 is based on the shape of path of navigation with the guiding intersection in the direct of travel the place ahead that is positioned at vehicle; Judgement road that direction and vehicle withdraw from from the guiding intersection (below; Be called and withdraw from road) in the identical scope, whether there are a plurality of roads that are connected with this guiding intersection.Be judged to be by the road identifying unit in the direction scope identical with withdrawing from road; Exist under the situation of a plurality of roads that are connected with the guiding intersection; Identifying information corresponding unit 56 is set up corresponding with each road of these a plurality of roads identifying information; Wherein, this identifying information is used to discern the closure of each road with respect to the guiding intersection.Crossroad guide unit 57 uses the guiding of the identifying information channeling conduct intersection corresponding with withdrawing from road.Extended line identifying unit 58 is based on the shape and the path of navigation of the guiding intersection in the direct of travel the place ahead that is positioned at vehicle; Judge whether the extended line road is connected with the guiding intersection; Wherein, this extended line road is the road that is the extended line relation with the entering road of this guiding intersection of vehicle entering.Exist at the periphery of the guiding intersection in the direct of travel the place ahead that is positioned at vehicle under the situation of thing on the ground, thing information obtains unit 59 and obtains the ground thing information relevant with this ground thing on the ground.
Operating portion 14 input as go the departure place in beginning place and when finishing the destination in place as going etc. quilt operate, constitute by a plurality of operating switchs (not shown) such as various buttons, buttons.And, navigation ECU13 based on through each switch by inferior and, control in order to carry out pairing exercises by the switching signal exported.Wherein, operating portion 14 can be made up of the touch panel in the front side surface setting of LCD 15.In addition, can also constitute by microphone, voice recognition device.
In addition; On LCD 15; Show map image, transport information, operation guide, the actions menu comprise road, button guiding, the predefined paths that goes from the departure place to the destination, guidance information, news, weather forecast along the predefined paths that goes, constantly, mail, TV programme etc.Particularly in this embodiment, under predetermined distance the situation with interior (for example 300m) of guiding intersection, show that near the enlarged drawing in guiding intersection, vehicle are at the direct of travel that guides the intersection near direct of travel the place ahead of vehicle.
In addition, loudspeaker 16 output based on from the indication of navigation ECU13 to the sound along the channeling conduct of going of the predefined paths that goes guide, the guiding of transport information.Particularly in this embodiment; Under the situation of guiding intersection, of the back near the predetermined distance (for example, 700m, 300m) in direct of travel the place ahead of vehicle; The shape, periphery that the guiding intersection has been considered in output on the ground the sound guidance of thing (for example, " and be about to be the right front to." or " be about to be right-hand in face of, 00 warehouses the road of side.”)。
In addition, DVD driver 17 is the drivers that can read recording medium recorded data such as DVD, CD.And, come playing back music, image, renewal cartographic information DB31 based on the data that read, or the like.
In addition; Communication module 18 is the communicators that are used to receive the transport information that is made up of various information such as the congestion information that sends from traffic information center, for example VICS center, detection center etc., restricted information, traffic accident informations, for example is mobile phone, DCM.
Then, based on Fig. 3 the performed crossroad guide handling procedure of navigation ECU13 in the guider with above-mentioned formation 1 is described.Fig. 3 is the process flow diagram of the crossroad guide handling procedure of this embodiment.Here, the crossroad guide handling procedure is performed after the ACC of vehicle opens, and is the program of the guiding of going of channeling conduct crossing intersection part.Wherein, the program shown in the process flow diagram of following Fig. 3 is stored among RAM42 that guider 1 possessed, the ROM43, is carried out by CPU41.
At first, in the crossroad guide handling procedure, in step (below, abbreviate S as) 1, CPU41 obtains the current location of vehicle based on the testing result of current location test section 11.The map match of wherein, also carrying out the current location of definite vehicle on map datum is handled.
Next, in S2, CPU41 obtains the path of navigation of in guider 1, setting.Here, the recommendation paths till path of navigation is meant from departure place (the for example current location of this car) to user-selected destination, the result who is based on path search processing sets.In addition, transport information that path search processing is to use the highway section data 32 of in cartographic information DB31, storing, node data 33, obtain from the VICS center etc. waits through known Di Jiesitela (Dijkstra) algorithm and to carry out.
Then, in S3, CPU41 is based on the current location of the vehicle of obtaining among the above-mentioned S1 and the path of navigation of in above-mentioned S2, obtaining, and whether judgement has the guiding intersection at the predetermined distance in direct of travel the place ahead of vehicle with interior (for example, in the 1km).Wherein, the guiding intersection is that guider 1 is when the guiding of going according to path of navigation, as the intersection of the object of the guiding of turning indication etc. about carrying out as stated.
And, be judged to be the predetermined distance in direct of travel the place ahead of vehicle with the interior situation (S3: " being ") that the guiding intersection arranged under, move to S4.Relative therewith, be judged to be the predetermined distance in direct of travel the place ahead of vehicle with the interior situation (S3: " denying ") that does not guide the intersection under, finish this crossroad guide handling procedure.
In S4, CPU41 obtains the shape of the guiding intersection in the direct of travel the place ahead that is positioned at vehicle.Here, as the shape of the guiding intersection of in above-mentioned S4, obtaining, comprise, respectively connect the highway section with respect to the closure that guides the intersection, respectively connect the extended line relation etc. in highway section with the quantity in the highway section (connection highway section) that is connected, guiding intersection.And in above-mentioned S4, CPU41 obtains the shape of the guiding intersection in the direct of travel the place ahead that is positioned at vehicle through read highway section data 32, node data 33 and the crossing intersection data 34 etc. relevant with this guiding intersection from cartographic information DB31.
Thereafter; At S5; CPU41 is based on the path of navigation obtained among the above-mentioned S2 and in the shape of the guiding intersection that above-mentioned S4 obtains; Judgement direction with the direction that gets into road (vehicle gets into the road of guiding intersection) be the withdrawing from the identical scope of road (road that vehicle withdraws from from the guiding intersection) of benchmark; Comprising that whether a plurality of (for example more than at least 2) road that withdraws from road is connected with the guiding intersection, is withdrawing from the identical scope of road of benchmark in direction with direction with the entering road promptly, whether has a plurality of and the roads that guide the intersection to be connected.
Below, to the determination processing of above-mentioned S5, enumerate concrete example and be elaborated.
At above-mentioned S5, CPU41 confirms that at first vehicle gets into the entering road of guiding intersection.Judge and get into the road that road is the extended line relation (below, be called the extended line road) and whether be connected with the guiding intersection thereafter.
(A) the extended line road not with guiding intersection situation about being connected under
The extended line road not with guiding intersection situation about being connected under, at first calculate the angle that withdraws from road with respect to the entering road.For example as shown in Figure 4, exist under the situation of guiding intersection 62 in direct of travel the place ahead of vehicle 61, calculate and withdraw from road 64 with respect to the angle [alpha] that gets into road 63.
Next, confirming to withdraw from road is comprised in which angular range in 3 angular ranges as shown in Figure 5 with respect to the angle that gets into road.Wherein, Fig. 5 is particularly in the situation of the guiding intersection guiding of turning right (promptly; Withdraw from road and be positioned at the situation on right side with respect to getting into road) employed angular range down, be divided into (1) 0 degree～30 degree, (2) 30 degree～150 degree, (3) 150 degree～180 degree.Wherein, each numerical value can suitably change.
And; It is whether the linking-up road of determined angular range (comprise and withdraw from the angular range of road with respect to the angle that gets into road) comprises that withdrawing from road exists a plurality of (for example more than at least 2) that CPU41 judges with respect to the angle that gets into road; Comprise that withdrawing from road exists under a plurality of situation being judged to be; In above-mentioned S5, be judged to be direction be withdrawing from the identical scope of road of benchmark with the direction that gets into road, comprise that a plurality of roads that withdraw from road are connected with guiding the intersection.
For example, as shown in Figure 6, be under the situation of 90 degree with respect to the angle [alpha] that gets into road 63 withdrawing from road 64, judge in the scope that with respect to the angle that gets into road 63 is 30 degree～150 degree whether except withdrawing from road 64, also exist linking-up road.In example as shown in Figure 6; Except withdrawing from road 64, also exist with respect to the linking-up road 65 of the angle that gets into road 63 in the scope of 30 degree～150 degree; Therefore at above-mentioned S5; CPU41 be judged to be direction be withdrawing from the identical scope of road of benchmark with the direction that gets into road, comprise that a plurality of roads that withdraw from road are connected with guiding the intersection.
Wherein, each angular range as shown in Figure 5 also corresponding be used to guide the channeling direction of the closure of road.For example (1) 0 degree～30 degree are " tiltedly right ", and (2) 30 degree～150 degree are " right side ", and (3) 150 degree～180 degree are " returning the right side ".Therefore, under the situation that for example withdraws from road with respect to the angle that gets into road and be positioned at right-hand scope to 0 degree～30 degree, after in the boot process stated, carry out that " being about to is right tilted direction." such guiding.
(B) under extended line road and guiding intersection situation about being connected
Under extended line road and guiding intersection situation about being connected, calculate respectively the extended line road with respect to the angle that gets into road with withdraw from the angle of road with respect to the entering road.For example, exist under the situation of guiding intersection 72, calculate and withdraw from road 74 with respect to the angle [alpha] that gets into road 73 in direct of travel the place ahead of such vehicle 61 as shown in Figure 7.In addition, calculate the angle beta of extended line road 75 with respect to (being the extended line relation) of entering road 73 with entering road 73.
Next, confirming to withdraw from road is comprised in which angular range in 3 angular ranges as shown in Figure 8 with respect to the angle that gets into road.Wherein, Fig. 8 particularly descends employed angular range in the situation (that is, withdrawing from road is positioned at the right side with respect to the entering road situation) of the guiding that guides the intersection to turn right, and divides with respect to the angle that gets into road according to the extended line road.For example, be under the situation of-30 degree with respect to the angle that gets into road at the extended line road, divide by (1)-30 degree～30 degree, (2) 30 degree～150 degree, (3) 150 degree～180 degree.Wherein, each numerical value can suitably change.
And; It is whether the linking-up road of determined angular range (comprise and withdraw from the angular range of road with respect to the angle that gets into road) comprises that withdrawing from road exists a plurality of (for example more than at least 2) that CPU41 judges with respect to the angle that gets into road; Comprise that withdrawing from road exists under a plurality of situation being judged to be, in above-mentioned S5, be judged to be direction be that withdrawing from of benchmark comprises in the identical scope of road that a plurality of roads that withdraw from road are connected with guiding the intersection with the direction that gets into road.
For example; As shown in Figure 9; Is 90 degree withdrawing from road 74 with respect to the angle [alpha] that gets into road 73; And extended line road 75 is under the situation of-30 degree with respect to the angle beta that gets into road 73, judges in the scope that with respect to the angle that gets into road 73 is 30 degree～150 degree except withdrawing from road 74, whether also to exist linking-up road.In example shown in Figure 9; Except withdrawing from road 74, also exist with respect to the linking-up road 76,77 of the angle that gets into road 73 in the scope of 30 degree～150 degree; Therefore at above-mentioned S5; CPU41 be judged to be direction be withdrawing from the identical scope of road of benchmark with the direction that gets into road, comprise that a plurality of roads that withdraw from road are connected with guiding the intersection.
Wherein, each angular range as shown in Figure 8 is also corresponding with channeling direction identically with Fig. 5.
And, in the determination processing of above-mentioned S5, be judged to be direction be that withdrawing from of benchmark comprises in the identical scope of road under a plurality of roads that withdraw from road and the situation (S5: " being ") that guides the intersection to be connected with the direction that gets into road, move to S6.Relative therewith, be judged to be direction with the direction that gets into road be withdrawing from of benchmark comprise in the identical scope of road withdraw from road a plurality of roads not with situation (S5: " denying ") that the guiding intersection is connected under, execution boot process (S7).
In above-mentioned S5, be judged to be direction with the direction that gets into road be withdrawing from of benchmark comprise in the identical scope of road withdraw from road a plurality of roads not with situation that the guiding intersection is connected under in the performed boot process (S7); Carry out and guide the relevant guiding in intersection at the time point that becomes predetermined distance (for example, 300m and 700m) from vehicle to the distance of guiding till the intersection.Particularly, confirm the guiding (that is, be used for confirm that vehicle withdraws from from the guiding intersection the guiding of withdrawing from road) of direct of travel of the guiding intersection of vehicle.And introductory content is based on comprising the corresponding channeling direction (with reference to Fig. 5, Fig. 8) of angular range that withdraws from road with respect to the angle that gets into road and determines.For example, withdrawing from road with respect to the angle that gets into road under right-hand situation in the scope of 0 degree～30 degree, carrying out that " being about to (700m forwardly) is right tilted direction." such guiding.And, guiding the intersection near under the situation of predetermined distance with interior (for example 300m) of vehicle, LCD 15 shows that near the enlarged drawing in guiding intersections, vehicle are at the direct of travel that guides the intersection.
Its result can make the user confirm the road that vehicle withdraws from from the guiding intersection exactly.
On the other hand; At S6; CPU41 will discern with respect to the identifying information of the closure of guiding intersection, with being judged as at above-mentioned S5 and be included in direction and set up correspondence with each road in the identical scope of road (below, be called object road) that withdraws from that with the direction that gets into road is benchmark.
Below, to the processing of above-mentioned S6, enumerate concrete example and more specify.
At above-mentioned S6, CPU41 confirms that at first vehicle gets into the entering road of guiding intersection.Thereafter, whether judgement is connected with the guiding intersection with the extended line road that the entering road is the extended line relation.
(A) the extended line road not with guiding intersection situation about being connected under
The extended line road not with guiding intersection situation about being connected under, with respect to the position relation that gets into road, identifying information is set up correspondence based on each object road.For example; In Figure 10; Illustration guiding intersection 82 be positioned at direct of travel the place ahead of vehicle 61, guiding intersection 82 direction with the direction that gets into road 83 be the withdrawing from the identical scope of road 84 of benchmark, connect and withdraw from road 84 and linking-up road 85 as object road.Under this situation, the object road minimum in identifying information and the object road with " right front " of expression closure, be that linking-up road 85 foundation are corresponding with respect to the angle θ that gets into road 83.In addition, with the identifying information of " right back " of expression closure with the object road little with respect to the angle θ that gets into road 83 second, promptly to withdraw from road 84 foundation corresponding.
In addition; In Figure 11 illustration guiding intersection 92 in direct of travel the place ahead of vehicle 61; And guiding intersection 92 direction with the direction that gets into road 93 be the withdrawing from the identical scope of road 94 of benchmark, connect and withdraw from road 94 and linking-up road 95,96 as object road.Under this situation, with the identifying information of " right front " of expression closure with object road minimum with respect to the angle θ that gets into road 93 in object road, be that linking-up road 95 foundation are corresponding.In addition, with the identifying information on " right side " of expression closure with the object road little with respect to the angle θ that gets into road 93 second, promptly to withdraw from road 94 foundation corresponding.And, with the identifying information of " right back " of expression closure with the object road maximum with respect to the angle θ that gets into road 93, be that linking-up road 96 foundation are corresponding.
Thus, even under object road is a plurality of situation, also can relatively discern each road based on identifying information.Wherein, even exist under the situation more than 4, also can identifying information be set up corresponding likewise based on respect to the position relation that gets into road in object road.
(B) under extended line road and guiding intersection situation about being connected
Under extended line road and guiding intersection situation about being connected,, identifying information is set up correspondence based on position relation with respect to each object road of extended line road.Particularly, by angle from small to large the order of each object road with respect to the extended line road, perhaps " right front ", " right side ", " right back " are set up corresponding with " right front ", " right back ".Wherein, flow process is identical with above-mentioned " (A) extended line road not with guiding intersection situation about being connected ".But, be not to use with respect to the angle that gets into road, identifying information is set up corresponding and be to use with respect to the angle of extended line road.
Wherein, thing is positioned under the situation of periphery of guiding intersection on the ground, also can be like the following stated, concern identifying information and the foundation of each object road corresponding based on the position of each object road relevant with the ground thing.
(C) thing is positioned under the situation of the periphery that guides the intersection on the ground
In Figure 12; Illustration guiding intersection 102 be positioned at direct of travel the place ahead of vehicle 61; And guiding intersection 102 is withdrawing from the identical scope of road 104 of benchmark in direction with direction with entering road 103; Connect and to withdraw from road 104 and linking-up road 105, and have ground thing 106 between road 104 and the linking-up road 105 withdrawing from as object road.Under this situation, with the object road that is positioned at the dorsal part of thing 106 on the ground on the ground in the identifying information of " dorsal parts of 00 titles of thing () " of expression closure and the object road, be that linking-up road 105 foundation are corresponding.In addition, with the identifying information of " 00 titles of thing (on the ground) in face of sides " of expression closure be positioned at thing 106 on the ground in face of side object road, promptly to withdraw from road 104 foundation corresponding.
Thus, even exist under a plurality of situation, also can relatively discern each road based on identifying information in object road.Wherein, under the situation of object road existence more than 3, can concern based on position similarly identifying information foundation correspondence with respect to the ground thing.
Thereafter; At S7; CPU41 is based on above-mentioned S6 and has set up corresponding identifying information with each object road, carries out and guides the relevant guiding in intersection at the time point that becomes predetermined distance (for example, 300m and 700m) from vehicle to the distance of guiding till the intersection.Particularly, use with object road in the road that withdraws from set up corresponding identifying information, confirm the guiding (that is, being used for of the guiding of withdrawing from road of definite vehicle) of direct of travel of the guiding intersection of vehicle from guiding the intersection to withdraw from.For example, shown in figure 10, withdrawing under the road situation corresponding with the identifying information of " right back ", carry out that " being about to is (700m the place ahead) right back direction." such guiding.In addition, shown in figure 11, under the identifying information on " right side " situation corresponding, carry out with withdrawing from road " be about to be (700m the place ahead) right-hand to." such guiding.And, under the identifying information of " 00 titles of thing () in face of sides " the shown in figure 12 situation corresponding, carry out that " be about to is that (700m the place ahead) is right-hand to, the side in front of 00 (titles of ground thing) on the ground with withdrawing from road." such guiding.And, guiding the intersection near under the situation of predetermined distance with interior (for example 300m) of vehicle, LCD 15 shows that near the enlarged drawing in guiding intersections, vehicle are at the direct of travel that guides the intersection.
Its result can make the user confirm the road that vehicle withdraws from from the guiding intersection exactly.
According to above detailed description; According to the guider 1 of this embodiment, the computer program that uses the path guide method of guider 1 and in guider 1, carry out; Be based on the path of navigation of setting in the guider 1 and the position of vehicle; Whether judgement has guiding intersection (S3) in direct of travel the place ahead of vehicle; Have under the situation of guiding intersection being judged to be, obtain the shape (S4) of this guiding intersection, based on the shape and the path of navigation of the guiding intersection of obtaining in direct of travel the place ahead of vehicle; Judgement is withdrawed from the identical scope of road from what the guiding intersection was withdrawed from vehicle in direction; Comprise and withdraw from road and whether is connected (S5), in the direction scope identical, comprise a plurality of roads that withdraw from road and guide under the situation that the intersection is connected being judged to be with withdrawing from road with the guiding intersection at interior a plurality of roads, identifying information is corresponding with each road foundation of these a plurality of roads; Wherein, This identifying information is used to discern the closure (S6) of each road with respect to the guiding intersection, and therefore the guiding (S7) of using the identifying information corresponding with withdrawing from road to come the channeling conduct intersection even withdraw from the identical scope of road from what the guiding intersection was withdrawed from vehicle in direction; Exist under the situation of a plurality of roads that are connected with this guiding intersection, also can make the user confirm the road that withdraws from that vehicle should get in the guiding intersection exactly.In addition, need not to make the user to carry out special operation, though vehicle in the past not the guiding intersection of process also can make the user confirm to withdraw from road exactly.
In addition; Is withdrawing from the identical scope of road of benchmark being judged to be in direction with the direction that gets into the entering road of guiding intersection with vehicle; Exist under the situation of a plurality of roads that are connected with this guiding intersection; Each road of identification is corresponding with each road foundation of these a plurality of roads with respect to the identifying information of the closure of guiding intersection, therefore particularly can set up corresponding as object with identifying information the impalpable road of user.
In addition; With get into road extended line road that is the extended line relation and the situation that guides the intersection to be connected under; Concerning based on the position with respect to the extended line road and identifying information and each road to be set up corresponding, so can be a plurality of roads that benchmark relatively discerns to be positioned at the identical scope of direction with the extended line road.Therefore, can make the user confirm the road that withdraws from that vehicle should get in the guiding intersection exactly.
In addition; With get into extended line road that road is the extended line relation not with situation that the guiding intersection is connected under; Corresponding based on identifying information and each road being set up with respect to the position relation that gets into road, can be that benchmark is relatively discerned a plurality of roads that are positioned at the identical scope of direction therefore to get into road.Therefore, even under the situation that does not have the extended line road, also can make the user confirm the road that withdraws from that vehicle should get in the guiding intersection exactly.
In addition; Thing is positioned under the situation of the periphery that guides the intersection on the ground; Corresponding based on identifying information and each road being set up with respect to the position relation of ground thing, can be that benchmark is relatively discerned a plurality of roads that are positioned at the identical scope of direction therefore with the ground thing.Therefore, can make the user confirm the road that withdraws from that vehicle should get in the guiding intersection exactly.
Wherein, the invention is not restricted to above-mentioned embodiment, not ccontaining doubtful ground can carry out various improvement, distortion in the scope that does not break away from purport of the present invention.
For example; In above-mentioned S5; Judgement direction with the direction that gets into road (vehicle gets into the road of guiding intersection) be the withdrawing from the identical scope of road (road that vehicle withdraws from from the guiding intersection) of benchmark; Comprise withdraw from road interior a plurality of roads whether with situation that the guiding intersection is connected under; Under large-scale road such as the national highway that constitutes by the highway section of uplink and downlink more than 2 and situation that the guiding intersection is connected, preferably irrespectively be regarded as 1 road and judge with the highway section number of this road of formation.
In addition; In this embodiment; Above-mentioned S5 judge direction with the direction that gets into road (vehicle gets into the road of guiding intersection) be the withdrawing from the identical scope of road (road of vehicle) of benchmark from guiding the intersection to withdraw from; Comprise and withdraw from road and whether is connected with the guiding intersection at least 2 interior above roads, but also can adopt judge 3 or the road more than 4 whether with the formation that guides the intersection to be connected.
In addition; Also can constitute: withdrawing from road with respect to the angle that gets into road below predetermined angular (for example 15 degree); And with respect to get into road predetermined angular (for example 25 degree) with the interior situation that does not connect other roads under; Do not carry out the processing of above-mentioned S5, S6, and with " craspedodrome direction " as identifying information with withdraw from road and set up corresponding.
In addition, in this embodiment, at above-mentioned S5; In like Fig. 5, angular range shown in Figure 8; Comprise under the situation of a plurality of roads in the angular range identical with withdrawing from road, be judged to be direction be withdrawing from the identical scope of road of benchmark with the direction that gets into road, comprise that a plurality of roads that withdraw from road are connected with guiding the intersection; But also can constitute not application drawing 5, Fig. 8, and based on carrying out the determination processing of above-mentioned S5 with the differential seat angle that withdraws from road.Under this situation, the direction that gets into road is not a benchmark, but according to judging in direction with the differential seat angle that withdraws from road and withdraw from the identical scope of road, comprise whether a plurality of roads that withdraw from road are connected with the guiding intersection.For example; Withdrawing under the situation that road is an one-sided road more than the track; Judgement is being spent with interior other linking-up roads that whether are connected with respect to withdrawing from road 45; Under situation about exist connecting, be judged to be and comprise that in the direction scope identical a plurality of roads that withdraw from road are connected with guiding the intersection, move to the processing of S6 with withdrawing from road.In addition; Withdrawing under the situation that road is the one-sided road that is less than a fare; Judgement is being that 90 degree are with interior other linking-up roads that whether are connected with respect to withdrawing from road; Under situation about exist connecting, be judged to be and comprise that in the direction scope identical a plurality of roads that withdraw from road are connected with guiding the intersection, move to the processing of S6 with withdrawing from road.
In addition, in this embodiment, be illustrated, but also can be used for portable terminal such as mobile phone or personal computer etc. with the example that the application invention is used for guider 1.In addition, under the situation that is used for portable terminal, personal computer, except vehicle, also can use the application's invention for the guiding of moving of pedestrian or cart etc.
Claims (7)
1. path guiding device is characterized in that having:
The path of navigation setup unit, it sets the path of navigation to the mobile channeling conduct of moving body;
Movable body position is obtained the unit, and it obtains the position of above-mentioned moving body;
The unit is confirmed in the guiding intersection, and it is based on the position of above-mentioned path of navigation and above-mentioned moving body, confirms to be positioned at the guiding intersection in direct of travel the place ahead of above-mentioned moving body;
The intersection shape obtains the unit, and it obtains the shape of above-mentioned guiding intersection;
The road identifying unit; It obtains the shape of the above-mentioned guiding intersection of obtaining the unit based on above-mentioned path of navigation with by above-mentioned intersection shape; Judgement is withdrawed from the identical scope of road with above-mentioned moving body withdraws from from above-mentioned guiding intersection in direction, whether has a plurality of roads that are connected with this guiding intersection;
The identifying information corresponding unit; Withdraw under the situation that has the road that a plurality of and above-mentioned guiding intersection is connected in the identical scope of road with above-mentioned being judged to be by above-mentioned road identifying unit in direction; This identifying information corresponding unit is set up corresponding with each road of these a plurality of roads identifying information; Wherein, this identifying information is used to discern the closure that each road is connected to above-mentioned guiding intersection; And
The crossroad guide unit, its use is carried out the guiding of above-mentioned guiding intersection with the above-mentioned corresponding above-mentioned identifying information of road that withdraws from.
2. path guiding device according to claim 1 is characterized in that,
It is that the above-mentioned of benchmark withdraws from the identical scope of road that above-mentioned road identifying unit is judged in direction and the direction that gets into the entering road of above-mentioned guiding intersection with above-mentioned moving body, whether has a plurality of roads that are connected with this guiding intersection.
3. path guiding device according to claim 1 is characterized in that,
Has the extended line identifying unit; This extended line identifying unit is obtained the shape of the above-mentioned guiding intersection of obtaining the unit based on above-mentioned path of navigation with by above-mentioned intersection shape; Judge whether the extended line road is connected with above-mentioned guiding intersection; Wherein, this extended line road is the road that the entering road that gets into above-mentioned guiding intersection with above-mentioned moving body is the extended line relation
Be judged to be by above-mentioned extended line identifying unit under above-mentioned extended line road and the situation that above-mentioned guiding intersection is connected, above-mentioned identifying information corresponding unit concerns with respect to the position of above-mentioned extended line road based on above-mentioned a plurality of roads to be set up corresponding with each road above-mentioned identifying information.
4. path guiding device according to claim 3 is characterized in that,
Be judged to be by above-mentioned extended line identifying unit above-mentioned extended line road not with situation that above-mentioned guiding intersection is connected under, above-mentioned identifying information corresponding unit concerns with respect to the position of above-mentioned entering road based on above-mentioned a plurality of roads to be set up corresponding with each road above-mentioned identifying information.
5. according to each the described path guiding device in the claim 1～4, it is characterized in that,
Have ground thing information and obtain the unit, the periphery in above-mentioned guiding intersection exists under the situation of ground thing, and this ground thing information obtains the unit and obtains the ground thing information relevant with this ground thing,
Above-mentioned identifying information corresponding unit concerns with respect to the position of above-mentioned ground thing based on above-mentioned a plurality of roads to be set up corresponding with each road above-mentioned identifying information.
6. path guide method is characterized in that having:
Path of navigation is set step, sets the path of navigation to the mobile channeling conduct of moving body;
Movable body position is obtained step, obtains the position of moving body;
Step is confirmed in the guiding intersection, based on the position of above-mentioned path of navigation and above-mentioned moving body, confirms to be positioned at the guiding intersection in direct of travel the place ahead of above-mentioned moving body;
The intersection shape obtains step, obtains the shape of above-mentioned guiding intersection;
The road determination step; Obtain the shape of the above-mentioned guiding intersection that step obtains based on above-mentioned path of navigation with by above-mentioned intersection shape; Judgement is withdrawed from the identical scope of road with above-mentioned moving body withdraws from from above-mentioned guiding intersection in direction, whether has a plurality of roads that are connected with this guiding intersection;
The corresponding step of identifying information; Withdraw under the situation that has the road that a plurality of and above-mentioned guiding intersection is connected in the identical scope of road with above-mentioned being judged to be by above-mentioned road determination step in direction; Set up corresponding with each road of these a plurality of roads identifying information; Wherein, this identifying information is used to discern the closure that each road is connected to above-mentioned guiding intersection; And
The crossroad guide step is used and is carried out the guiding of above-mentioned guiding intersection with the above-mentioned corresponding above-mentioned identifying information of road that withdraws from.
7. a computer program is installed in the computing machine, it is characterized in that, is used to make processor to carry out following function:
The path of navigation set-up function, it sets the path of navigation to the mobile channeling conduct of moving body;
Movable body position is obtained function, and it obtains the position of moving body;
Function is confirmed in the guiding intersection, and it is based on the position of above-mentioned path of navigation and above-mentioned moving body, confirms to be positioned at the guiding intersection in direct of travel the place ahead of above-mentioned moving body;
The intersection shape obtains function, and it obtains the shape of above-mentioned guiding intersection;
The road decision-making function; It obtains the shape of the above-mentioned guiding intersection that function obtains based on above-mentioned path of navigation with by above-mentioned intersection shape; Judgement is withdrawed from the identical scope of road with above-mentioned moving body withdraws from from above-mentioned guiding intersection in direction, whether has a plurality of roads that are connected with this guiding intersection;
The identifying information corresponding function; Withdraw under the situation that has the road that a plurality of and above-mentioned guiding intersection is connected in the identical scope of road with above-mentioned being judged to be by above-mentioned road decision-making function in direction; This identifying information corresponding function is set up corresponding with each road of these a plurality of roads identifying information; Wherein, this identifying information is used to discern the closure that each road is connected to above-mentioned guiding intersection; And
The crossroad guide function, its use is carried out the guiding of above-mentioned guiding intersection with the above-mentioned corresponding above-mentioned identifying information of road that withdraws from.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010-284144 | 2010-12-21 | ||
| JP2010284144A JP5565296B2 (en) | 2010-12-21 | 2010-12-21 | Route guidance device, route guidance method and computer program |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102564444A true CN102564444A (en) | 2012-07-11 |
| CN102564444B CN102564444B (en) | 2015-09-30 |
Family
ID=45093541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110396873.5A Expired - Fee Related CN102564444B (en) | 2010-12-21 | 2011-12-02 | Path guiding device, path guide method |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US8543293B2 (en) |
| EP (1) | EP2469235B1 (en) |
| JP (1) | JP5565296B2 (en) |
| CN (1) | CN102564444B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104048669A (en) * | 2013-03-13 | 2014-09-17 | 阿尔派株式会社 | Navigation unit, navigation system and guiding method of cross point |
| CN104471354A (en) * | 2012-08-10 | 2015-03-25 | 爱信艾达株式会社 | Intersection guidance system, method and program |
| WO2016000457A1 (en) * | 2014-06-30 | 2016-01-07 | 高德信息技术有限公司 | Navigation action generation method, navigation method and device |
| CN103770705B (en) * | 2012-10-17 | 2017-03-01 | 现代摩比斯株式会社 | Image providing system based on V2I communication and the image providing method using this system |
| CN107850456A (en) * | 2015-07-27 | 2018-03-27 | 日产自动车株式会社 | Path guiding device and path guide method |
| WO2018086545A1 (en) * | 2016-11-09 | 2018-05-17 | 腾讯科技（深圳）有限公司 | Information identification method in navigation, terminal and computer storage medium |
| CN108106628A (en) * | 2016-11-25 | 2018-06-01 | 沈阳美行科技有限公司 | Method and device for generating guide prompt identifier |
| CN108120448A (en) * | 2016-11-29 | 2018-06-05 | 阿尔派株式会社 | Path of navigation setting device and path of navigation setting method |
| CN110926486A (en) * | 2019-11-26 | 2020-03-27 | 百度在线网络技术（北京）有限公司 | Route determining method, device, equipment and computer storage medium |
| CN111337040A (en) * | 2018-12-18 | 2020-06-26 | 丰田自动车株式会社 | Travel guidance system and computer program |
| CN113758490A (en) * | 2020-06-01 | 2021-12-07 | 南宁富桂精密工业有限公司 | Incoming ramp judging method and navigation system |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5717476B2 (en) * | 2011-03-08 | 2015-05-13 | 三菱電機株式会社 | Navigation device |
| US10072937B2 (en) | 2016-07-14 | 2018-09-11 | Here Global B.V. | Map having computer executable instructions embedded therein |
| CN106289304A (en) * | 2016-09-30 | 2017-01-04 | 百度在线网络技术（北京）有限公司 | Navigation information methods of exhibiting and device |
| JP6704890B2 (en) * | 2017-11-08 | 2020-06-03 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and program |
| CN111238510B (en) * | 2018-11-28 | 2023-03-17 | 沈阳美行科技股份有限公司 | Method, device and related equipment for determining and guiding special road type |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5414630A (en) * | 1993-09-29 | 1995-05-09 | Zexel Corporation | Vehicle-mounted navigation system |
| CN1417061A (en) * | 2001-10-30 | 2003-05-14 | 宋建平 | Automobile navigation device |
| JP2004317370A (en) * | 2003-04-17 | 2004-11-11 | Denso Corp | Route guiding system |
| JP2007232608A (en) * | 2006-03-02 | 2007-09-13 | Matsushita Electric Ind Co Ltd | Navigation system, method and program for the same |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5982301A (en) * | 1995-01-20 | 1999-11-09 | Mitsubishi Denki Kabushiki Kaisha | Navigation apparatus |
| JPH0914984A (en) * | 1995-06-28 | 1997-01-17 | Aisin Aw Co Ltd | Navigation device for vehicle |
| KR100224326B1 (en) * | 1995-12-26 | 1999-10-15 | 모리 하루오 | Car navigation system |
| US5893898A (en) * | 1996-07-30 | 1999-04-13 | Alpine Electronics, Inc. | Navigation system having intersection routing using a road segment based database |
| US5902350A (en) * | 1996-10-30 | 1999-05-11 | Visteon Technologies, Llc | Generating a maneuver at the intersection through a turn lane |
| JPH1151674A (en) * | 1997-08-08 | 1999-02-26 | Aisin Aw Co Ltd | Car navigation system and recording medium |
| GB2328744B (en) * | 1997-08-28 | 2002-02-13 | Denso Corp | Route guidance apparatus |
| US6249740B1 (en) * | 1998-01-21 | 2001-06-19 | Kabushikikaisha Equos Research | Communications navigation system, and navigation base apparatus and vehicle navigation apparatus both used in the navigation system |
| JP4155671B2 (en) * | 1999-07-12 | 2008-09-24 | アルパイン株式会社 | Car navigation system |
| JP3455153B2 (en) * | 2000-02-16 | 2003-10-14 | 松下電器産業株式会社 | Lane guidance display method at intersection, navigation device thereof, and recording medium |
| KR100648342B1 (en) * | 2003-02-10 | 2006-11-23 | 엘지전자 주식회사 | navigation system and the operating method |
| JP4447286B2 (en) | 2003-11-11 | 2010-04-07 | アルパイン株式会社 | In-vehicle navigation device and voice guidance method thereof |
-
2010
- 2010-12-21 JP JP2010284144A patent/JP5565296B2/en active Active
-
2011
- 2011-12-02 CN CN201110396873.5A patent/CN102564444B/en not_active Expired - Fee Related
- 2011-12-05 US US13/311,088 patent/US8543293B2/en active Active
- 2011-12-05 EP EP11191862.9A patent/EP2469235B1/en not_active Not-in-force
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5414630A (en) * | 1993-09-29 | 1995-05-09 | Zexel Corporation | Vehicle-mounted navigation system |
| CN1417061A (en) * | 2001-10-30 | 2003-05-14 | 宋建平 | Automobile navigation device |
| JP2004317370A (en) * | 2003-04-17 | 2004-11-11 | Denso Corp | Route guiding system |
| JP2007232608A (en) * | 2006-03-02 | 2007-09-13 | Matsushita Electric Ind Co Ltd | Navigation system, method and program for the same |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104471354A (en) * | 2012-08-10 | 2015-03-25 | 爱信艾达株式会社 | Intersection guidance system, method and program |
| CN103770705B (en) * | 2012-10-17 | 2017-03-01 | 现代摩比斯株式会社 | Image providing system based on V2I communication and the image providing method using this system |
| CN104048669B (en) * | 2013-03-13 | 2019-02-12 | 阿尔派株式会社 | Navigation device, navigation system and crosspoint bootstrap technique |
| CN104048669A (en) * | 2013-03-13 | 2014-09-17 | 阿尔派株式会社 | Navigation unit, navigation system and guiding method of cross point |
| WO2016000457A1 (en) * | 2014-06-30 | 2016-01-07 | 高德信息技术有限公司 | Navigation action generation method, navigation method and device |
| CN105277203B (en) * | 2014-06-30 | 2017-06-23 | 高德信息技术有限公司 | A kind of generation method of navigation action, air navigation aid and equipment |
| CN107850456B (en) * | 2015-07-27 | 2020-12-01 | 日产自动车株式会社 | Route guidance device and route guidance method |
| CN107850456A (en) * | 2015-07-27 | 2018-03-27 | 日产自动车株式会社 | Path guiding device and path guide method |
| WO2018086545A1 (en) * | 2016-11-09 | 2018-05-17 | 腾讯科技（深圳）有限公司 | Information identification method in navigation, terminal and computer storage medium |
| US11231293B2 (en) | 2016-11-09 | 2022-01-25 | Tencent Technology (Shenzhen) Company Limited | Method, terminal, and computer storage medium for identifying information during navigation |
| CN108106628A (en) * | 2016-11-25 | 2018-06-01 | 沈阳美行科技有限公司 | Method and device for generating guide prompt identifier |
| CN108120448A (en) * | 2016-11-29 | 2018-06-05 | 阿尔派株式会社 | Path of navigation setting device and path of navigation setting method |
| CN111337040A (en) * | 2018-12-18 | 2020-06-26 | 丰田自动车株式会社 | Travel guidance system and computer program |
| CN110926486A (en) * | 2019-11-26 | 2020-03-27 | 百度在线网络技术（北京）有限公司 | Route determining method, device, equipment and computer storage medium |
| CN110926486B (en) * | 2019-11-26 | 2021-06-11 | 百度在线网络技术（北京）有限公司 | Route determining method, device, equipment and computer storage medium |
| US11703333B2 (en) | 2019-11-26 | 2023-07-18 | Baidu Online Network Technology (Beijing) Co., Ltd. | Method and apparatus for determining route, device and computer storage medium |
| CN113758490A (en) * | 2020-06-01 | 2021-12-07 | 南宁富桂精密工业有限公司 | Incoming ramp judging method and navigation system |
Also Published As
| Publication number | Publication date |
|---|---|
| US8543293B2 (en) | 2013-09-24 |
| EP2469235A3 (en) | 2014-11-05 |
| EP2469235A2 (en) | 2012-06-27 |
| CN102564444B (en) | 2015-09-30 |
| JP2012132744A (en) | 2012-07-12 |
| JP5565296B2 (en) | 2014-08-06 |
| EP2469235B1 (en) | 2018-04-25 |
| US20120158284A1 (en) | 2012-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102564444A (en) | Route guidance apparatus, route guidance method, and computer program | |
| CN102564430B (en) | Drive guiding device, travels bootstrap technique and computer program | |
| CN101852618B (en) | Navigation device | |
| CN102967317B (en) | Mobile guiding system, mobile guide and mobile bootstrap technique | |
| CN1938561A (en) | Navigation device, route searching method, route searching program, and computer-readable recording medium | |
| CN105339760B (en) | Transport information guiding system, transport information bootstrap technique and recording medium | |
| CN101988834A (en) | Map information guidance device, map information guidance method, and computer program | |
| CN102889893A (en) | Travel guidance system, travel guidance apparatus, travel guidance method, and computer program | |
| CN102853827A (en) | Travel guidance system, travel guidance apparatus, travel guidance method, and computer program | |
| CN105431711A (en) | Route search system, route search method, and computer program | |
| JP2006092513A (en) | Item search device | |
| CN102288190B (en) | Route guiding device | |
| JPWO2008068954A1 (en) | Navigation device | |
| CN108885116B (en) | Communication terminal, server device, movement guidance system, and computer program | |
| CN104508429A (en) | Route search system, route search apparatus, route search method, and computer program | |
| CN110268227A (en) | Driving assist system and computer program | |
| JP4550926B2 (en) | Route search device, route search method, route search program, and recording medium | |
| US20130013200A1 (en) | Travel guidance system, travel guidance apparatus, travel guidance method, and computer program | |
| JP4922637B2 (en) | Route search device, route search method, route search program, and recording medium | |
| US20080300781A1 (en) | Route setting system, route setting method, and program for executing the method | |
| JP4682210B2 (en) | NAVIGATION DEVICE, PROCESS CONTROL METHOD, PROCESS CONTROL PROGRAM, AND RECORDING MEDIUM | |
| WO2019188024A1 (en) | Display system and display program | |
| CN102809383B (en) | Drive guiding device and traveling bootstrap technique | |
| JP2016048227A (en) | Route search system, method for route search, and computer program | |
| JP2007263580A (en) | Route search device, route search method, route search program, and recording medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150930 Termination date: 20201202 |